WO2021237462A1 - Altitude limting method and apparatus for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium - Google Patents

Abstract

An altitude limiting method and apparatus for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. The method comprises: acquiring flight trajectory data, the flight trajectory data comprising the waypoint altitude of a plurality of waypoints; according to the waypoint altitude of the plurality of waypoints, determining the flight-limiting altitude of an unmanned aerial vehicle when the unmanned aerial vehicle executes a flight trajectory task according to the flight trajectory data, wherein the flight-limiting altitude is the altitude relative to a flight-limiting reference point. The described method can dynamically determine the flight-limiting altitude of the unmanned aerial vehicle according to the waypoint altitude of the plurality of waypoints in the flight trajectory data, can implement safe altitude requirements when the unmanned aerial vehicle executes a flight trajectory task, and can also prevent flight trajectory task failure caused by triggering altitude limiting, thus increasing the operation efficiency of the unmanned aerial vehicle when executing the flight trajectory task.

Description

Unmanned aerial vehicle height limitation method, device, unmanned aerial vehicle and storage medium Technical field

This application relates to the field of electronic technology, and in particular to methods and devices for height limitation of unmanned aerial vehicles, unmanned aerial vehicles and storage media.

Background technique

With the gradual upgrade of user consumption, unmanned aerial vehicles can be applied to the field of plant protection, for example, unmanned aerial vehicles can perform fruit tree operations. In the process of fruit tree operations performed by the unmanned aerial vehicle, in order to ensure the effective execution of the operation task, the flying height of the unmanned aerial vehicle is usually restricted. For example, the unmanned aerial vehicle can collect the height of the obstacle relative to the unmanned aerial vehicle in real time, and when the height is greater than the flying height limit, the unmanned aerial vehicle triggers the height restriction operation, such as suspending the current operation mission. However, in the above scheme, since the flying height limit is a predetermined fixed value, if the UAV flies to the gap between multiple fruit trees, the height of the UAV relative to the obstacle below the UAV collected by the UAV is relative to the ground. If the height of the fruit tree is usually higher, the height of the unmanned aerial vehicle relative to the ground will be greater than the height limit, which triggers the height limit operation and affects the efficiency of the task.

Summary of the invention

The embodiments of this application provide a method, device, unmanned aerial vehicle, and storage medium for height limitation of an unmanned aerial vehicle, which can dynamically determine the altitude limit of an unmanned aerial vehicle based on the height of multiple waypoints in the flight route data. To achieve the safe altitude requirements of the unmanned aerial vehicle when performing flight route tasks, and to avoid the flight route mission failure caused by triggering the height limit, thereby improving the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.

In the first aspect, an embodiment of the present application provides a method for limiting the height of an unmanned aerial vehicle, and the method includes:

Acquiring flight route data, the flight route data including waypoint heights of multiple waypoints;

According to the waypoint heights of the multiple waypoints, determine the restricted flying height of the unmanned aerial vehicle when performing flight route tasks according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point .

In the second aspect, an embodiment of the present application provides a height limiting device for an unmanned aerial vehicle, the device including:

The memory is used to store a computer program, the computer program including program instructions;

The processor calls the program instructions to execute the following steps:

Acquiring flight route data, the flight route data including waypoint heights of multiple waypoints;

According to the waypoint heights of the multiple waypoints, the restricted flying height is determined when the unmanned aerial vehicle executes the flight route task according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point.

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:

body;

The power system installed on the fuselage is used to provide flight power;

The height-limiting device for unmanned aerial vehicles as described in the second aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program that, when executed, implements the height limitation method of the unmanned aerial vehicle described in the first aspect above .

In the embodiments of this application, by acquiring flight route data, the waypoint heights of multiple waypoints included in the flight route data are determined to determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data. This can be achieved Dynamic determination of the restricted height. Since the restricted height is determined based on the waypoint heights of multiple waypoints contained in the flight route data, it can avoid the low flying height of the unmanned aerial vehicle when performing flight route tasks, resulting in the unmanned aerial vehicle's fuselage and operating objects. In the event of a collision, the safety altitude requirement of the unmanned aerial vehicle when performing flight route tasks is realized. In addition, because the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, and the restricted flying height is relative to the height of the restricted reference point, it can avoid the unmanned aerial vehicle flying to two The flight route task fails when the height limit operation is triggered when the height limit operation is triggered between the operating objects or the low-lying ground under the unmanned aerial vehicle. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a schematic diagram of a scene of an unmanned aerial vehicle provided by an embodiment of the present application;

2 is a schematic flowchart of a method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of another unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of another method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a height limiting device for an unmanned aerial vehicle provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Unmanned aerial vehicles can be called Unmanned Aerial Vehicles/Drones (UAV), which refers to unmanned aircraft operated by radio remote control equipment and self-provided program control devices, or completely or intermittently autonomous by onboard computers地 Operation. Unmanned aerial vehicles may include unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned para-wing aircraft, and the like.

In order to facilitate the understanding of an unmanned aerial vehicle height limitation method, device, unmanned aerial vehicle, and storage medium provided in the embodiments of this application, the embodiments of this application first briefly introduce the important components of the unmanned aerial vehicle. The unmanned aerial vehicle may include sensors. Sensors can be used to collect sensor data, and sensor data can be used to determine the flight altitude of the unmanned aerial vehicle. Specifically, the sensor may include one or more of a global positioning system (Global Positioning System, GPS) positioning module, a real-time dynamic (Real-Time Kinematic, RTK) measuring instrument, an air pressure sensor, a laser sensor, and an ultrasonic sensor.

Please refer to FIG. 1, which is a schematic diagram of exemplary flight route data provided by an embodiment of the present application. Before the unmanned aerial vehicle executes the flight route task, the unmanned aerial vehicle can obtain flight route data, where the flight route data can at least include the waypoint heights of multiple waypoints. For example, assuming that the flight route task is a fruit tree operation task, the waypoint can be the position of the fruit tree, and the height of the waypoint can be the height of the fruit tree. The unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints.

Exemplarily, the fruit tree operation task may be watering or spraying pesticides on the fruit trees in the orchard by the unmanned aerial vehicle, or monitoring the fruit trees in the orchard, etc., which is not specifically limited by the embodiments of the present application.

It can be explained that the flight route tasks in the embodiments of the present application include, but are not limited to, fruit tree operations tasks, and may also be flight routes tasks where the flight height of the unmanned aerial vehicle changes greatly, such as power line patrol tasks. Assuming that the flight route task is a power line patrol task, the waypoint can be an electric pole or an electric tower, and the height of the waypoint can be the height of an electric pole or an electric tower.

Based on FIG. 1, please refer to FIG. 2. FIG. 2 is a schematic flowchart of a height limitation method for an unmanned aerial vehicle according to an embodiment of the present application. The height limitation method for an unmanned aerial vehicle may include the following steps S201 and S202:

Step S201: Obtain flight route data, where the flight route data includes waypoint heights of multiple waypoints.

Wherein, the flight route data may include waypoint information of multiple waypoints, and the waypoint information may include the two-dimensional coordinates (for example, longitude and latitude) of the waypoint, and the height of the waypoint. In some embodiments, the waypoint information may also include work task instructions for the waypoint (for example, work task instructions such as photographing, video recording, or spraying).

Wherein, the waypoint height of the waypoint can be the relative height of the waypoint relative to the ground, or the altitude of the waypoint, which can be specifically set by the user. In an exemplary scenario, if the unmanned aerial vehicle performs a flight route mission in a mountainous area according to the flight route data, the user may set the altitude of the waypoint as the altitude of the waypoint. If the unmanned aerial vehicle performs flight route missions on the plain based on the flight route data, the user can set the waypoint height to the relative height of the waypoint relative to the ground, or the altitude of the waypoint. In another exemplary scenario, the altitude of the waypoint is preset and does not need to be set by the user. For example, the altitude of the waypoint of the waypoint is the altitude of the waypoint by default.

Exemplarily, there are multiple ways for the unmanned aerial vehicle to obtain flight route data as follows:

1. The user performs editing operations on historical tasks on the user interface of the control terminal, and when the control terminal detects the editing operation of the user, it obtains the editing information input by the user. The control terminal generates flight route data of the unmanned aerial vehicle based on historical missions and edited information in accordance with preset rules and protocols, and sends the flight route data to the unmanned aerial vehicle. Among them, the historical task may be acquired by the control terminal from the local storage of the ground control terminal, or acquired by the control terminal from an unmanned aerial vehicle, or downloaded by the control terminal through the Internet, which is not specifically limited by the embodiments of this application. .

2. The user performs the configuration operation of the flight route data of the unmanned aerial vehicle on the user interface of the control terminal, such as configuring multiple waypoints and waypoint information of each waypoint. When the control terminal detects the user’s configuration operation, it obtains each waypoint and its waypoint information entered by the user, and generates the flight route data of the unmanned aerial vehicle based on each waypoint and its waypoint information in accordance with the preset rules and protocols. The flight route data is sent to the unmanned aerial vehicle.

3. The control terminal can obtain the pre-generated surveying and mapping results, generate flight route data of the unmanned aerial vehicle based on the surveying and mapping results, and send the flight route data to the unmanned aerial vehicle. For example, the control terminal can reconstruct, identify and plan the operation scene based on the 3D mapping application and surveying results, and generate flight route data of the unmanned aerial vehicle.

Step S202: Determine, according to the waypoint heights of the multiple waypoints, the restricted flying height of the unmanned aerial vehicle when executing the flight route task according to the flight route data, where the restricted flying height is the height relative to the restricted flying reference point.

Wherein, the flight restriction reference point may include the take-off position point of the unmanned aerial vehicle, the power-on position point of the unmanned aerial vehicle, or the position point indicated by the user of the unmanned aerial vehicle.

In one implementation, the unmanned aerial vehicle can determine the waypoint with the highest waypoint height among the multiple waypoints based on the waypoint heights of multiple waypoints, and then determine the flying height limit based on the waypoint height of the waypoint with the highest waypoint height .

Exemplarily, the way for the unmanned aerial vehicle to determine the flying height limit according to the waypoint height of the waypoint with the highest waypoint height may include the following multiple ways:

1. The unmanned aerial vehicle can determine the second relative height of the waypoint with the highest waypoint height relative to the flight-restricted reference point according to the waypoint height of the waypoint with the highest waypoint height and the height of the flight-restricted reference point, and then according to the second relative height The altitude determines the restricted flying altitude.

For example, the unmanned aerial vehicle can directly determine the second relative altitude as the restricted flying altitude.

For another example, the unmanned aerial vehicle can obtain the first safe altitude margin, and then determine the sum of the first safe altitude margin and the second relative altitude as the restricted flight altitude. The first safe altitude margin can be a preset altitude. For example, the first safe altitude margin can be set based on experience, or set at the factory of the unmanned aerial vehicle, or the user of the unmanned aerial vehicle based on flight The scene setting corresponding to the route data. For example, the flight route task performed by the unmanned aerial vehicle according to the flight route data is a fruit tree operation task, and the scene corresponding to the flight route data is the orchard operated by the fruit tree operation task. Also, if the flight route task performed by the unmanned aerial vehicle according to the flight route data is a mountain operation task, then the scene corresponding to the flight route data is the mountain area operated by the mountain operation task, and so on. In some embodiments, the unmanned aerial vehicle may determine the first safety altitude margin according to the type of the work object. For example, the first safety height margin when the type of the work object is a fruit tree may be different from the first safety height margin when the type of the work object is an electrical tower.

2. The unmanned aerial vehicle can determine whether the waypoint height of the waypoint with the highest waypoint height is greater than or equal to the height of the flight restriction reference point, when the waypoint height of the waypoint with the largest waypoint height is greater than or equal to the height of the flight restriction reference point When the time, the UAV can determine the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height. When the waypoint altitude of the waypoint with the highest waypoint altitude is less than the altitude of the flight restriction reference point, the unmanned aerial vehicle can determine the flight restriction altitude according to the altitude of the flight restriction reference point.

In one implementation, the unmanned aerial vehicle can compare the height of each waypoint included in the flight route data with the height of the flight-restricted reference point. When there is at least one waypoint whose waypoint height is greater than or equal to the limit, When flying at the altitude of the reference point, the unmanned aerial vehicle may determine the restricted flying altitude according to the waypoint altitude of the waypoint with the highest waypoint altitude. When the altitude of all the waypoints is less than the altitude of the restricted-flying reference point, the UAV can determine the restricted-flying altitude according to the altitude of the restricted-flying reference point.

For example, the unmanned aerial vehicle can directly determine the altitude of the restricted-flying reference point as the restricted-flying altitude.

As another example, the unmanned aerial vehicle can obtain the second safe altitude margin, and then determine the sum of the second safe altitude margin and the altitude of the flight restriction reference point as the restricted flight altitude. The second safe altitude margin can be a preset altitude. For example, the second safe altitude margin can be set based on experience, or set at the factory of the unmanned aerial vehicle, or the user of the unmanned aerial vehicle based on flight The scene setting corresponding to the route data. For example, the flight route task executed by the unmanned aerial vehicle according to the flight route data is a fruit tree operation task, and the scene corresponding to the flight route data is the orchard operated by the fruit tree operation task. Also, if the flight route task performed by the unmanned aerial vehicle according to the flight route data is a mountain operation task, then the scene corresponding to the flight route data is the mountain area operated by the mountain operation task, and so on. In some embodiments, the unmanned aerial vehicle may determine the second safety altitude margin according to the type of the work object. For example, the second safety height margin when the type of the work object is a fruit tree may be different from the second safety height margin when the type of the work object is an electrical tower.

In one implementation, the unmanned aerial vehicle can determine whether the preset conditions are met. When the preset conditions are met, the altitude of multiple waypoints is used to determine the limit when the unmanned aerial vehicle performs flight route tasks based on flight route data. Fly height. When the preset conditions are not met, the unmanned aerial vehicle can determine the locally stored default restricted flying altitude as the restricted flying altitude of the unmanned aerial vehicle when performing flight route tasks based on the flight route data. In this embodiment, only when the unmanned aerial vehicle meets the preset conditions, can the unmanned aerial vehicle determine the altitude limit of the unmanned aerial vehicle when executing the flight route task according to the flight route data according to the waypoint heights of multiple waypoints, which can improve the flight route. Task efficiency.

Exemplarily, satisfying the preset condition may include at least one of the following:

1) The distance between each of the multiple waypoints and the UAV's home point or the flight-restricted reference point is less than or equal to the preset distance threshold.

For example, the distance between each waypoint included in the flight route data and the return point of the unmanned aerial vehicle is less than or equal to the preset distance threshold. For another example, the distance between each waypoint included in the flight route data and the flight restriction reference point is less than or equal to the preset distance threshold.

Among them, the distance between the way point and the home point can be a straight line distance or a horizontal distance. In the same way, the distance between the waypoint and the flight-restricted reference point can be a straight line distance or a horizontal distance. The preset distance threshold may be set based on experience, or set at the factory of the unmanned aerial vehicle, or set by the user of the unmanned aerial vehicle.

2) The unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type.

For example, if the flight route task performed by the unmanned aerial vehicle based on the flight route data is a fruit tree operation task, then only the unmanned aerial vehicle whose aircraft type is the plant protection type has the ability to perform the fruit tree operation task. In order to improve operation efficiency, the UAV can obtain the aircraft type of the UAV before determining the altitude limit of the UAV during the flight route task based on the flight route data based on the waypoint heights of multiple waypoints. When the aircraft type of the unmanned aerial vehicle is the plant protection type, the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when the unmanned aerial vehicle performs flight route tasks based on the flight route data based on the waypoint heights of multiple waypoints. In the embodiment of the present application, the preset aircraft type may be a plant protection type.

For another example, if the flight route task performed by the unmanned aerial vehicle based on the flight route data is an electric line patrol task, then only the unmanned aerial vehicle whose aircraft type is the electric line patrol type has the ability to perform the power line patrol task. In order to improve operation efficiency, the UAV can obtain the aircraft type of the UAV before determining the altitude limit of the UAV during the flight route task based on the flight route data based on the waypoint heights of multiple waypoints. When the aircraft type of the unmanned aerial vehicle is the power line patrol type, the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints. In the embodiment of the present application, the preset aircraft type may be the power line patrol type.

3) The operation object of the unmanned aerial vehicle during the execution of the flight route task is the object of the preset object type.

For example, if the flight route task performed by the unmanned aerial vehicle based on the flight route data is a fruit tree operation task, after the unmanned aerial vehicle flies to the area where the flight route task needs to be performed, it can identify whether the operation object in the area is a tree. When the operation object in is trees, the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints. In the embodiment of the present application, the preset object type may be a tree type.

For another example, if the flight route task performed by the unmanned aerial vehicle based on the flight route data is a power line patrol task, then after the unmanned aerial vehicle flies to the area that needs to perform the flight route task, it can identify whether the operating object in the area is a power pole or Power tower, when the work object in the area is a power pole or power tower, the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks according to flight route data according to the waypoint heights of multiple waypoints. In the embodiment of the present application, the preset object type may be a power pole or a power tower.

Among them, the way for the unmanned aerial vehicle to identify whether the operating object in the area is an object of a preset object type can be: after the unmanned aerial vehicle flies over the area where the flight route task needs to be performed, it can use a camera or 3D flight time (Time of flight, TOF) and other sensors collect images under the UAV, and identify whether there are objects of preset object types in the images. When there are objects of preset object types in the image, the UAV can determine the operating objects in the area It is an object of the preset object type.

In some embodiments, the flight route data may include the type of the operation object, and the unmanned aerial vehicle may determine whether the type of the operation object is a preset object type.

4) The maximum flying altitude of the unmanned aerial vehicle is greater than or equal to the maximum waypoint altitude.

The maximum flying height of different unmanned aerial vehicles is different, for example, the maximum flying height of the first unmanned aerial vehicle is 10 meters (m), the maximum flying height of the second unmanned aerial vehicle is 500m, and so on. The unmanned aerial vehicle can obtain the maximum flyable altitude of the unmanned aerial vehicle before determining the altitude limit of the unmanned aerial vehicle during flight route tasks based on the flight route data based on the waypoint heights of multiple waypoints. When the maximum flyable altitude of is greater than or equal to the maximum waypoint altitude, it indicates that the unmanned aerial vehicle can successfully execute the flight route mission to the waypoint when it flies to the waypoint with the highest waypoint altitude. Based on this, the unmanned aerial vehicle The altitude limit of the unmanned aerial vehicle can be determined based on the waypoint heights of multiple waypoints when performing flight route tasks based on flight route data. When the maximum flyable altitude of the UAV is less than the maximum waypoint altitude, it indicates that the UAV cannot successfully perform the flight route mission to the waypoint when it flies to the waypoint with the highest waypoint altitude, such as unmanned aircraft. The maximum flying height of the aircraft is 10m, and the waypoint height of the waypoint with the highest waypoint height is 30m, so when the unmanned aerial vehicle flies to the waypoint with the highest waypoint height, it cannot operate in a space above 10m, and When flying away from the waypoint with the highest waypoint height, the fuselage is likely to collide with obstacles. Based on this, when the maximum flyable altitude of the unmanned aerial vehicle is less than the maximum waypoint altitude, the unmanned aerial vehicle can end the flight route task, such as controlling the unmanned aerial vehicle to land or return home.

5) Determine the working mode of the unmanned aerial vehicle as the preset working mode.

The unmanned aerial vehicle can obtain the working mode of the unmanned aerial vehicle before determining the altitude limit of the unmanned aerial vehicle during the flight route task according to the flight route data based on the waypoint heights of multiple waypoints. When the working model of the unmanned aerial vehicle is In the preset working mode, the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints. When the working model of the unmanned aerial vehicle is not in the preset working mode, the unmanned aerial vehicle can determine the locally stored default flying height limit as the restricted flying height of the unmanned aerial vehicle when performing flight route tasks according to the flight route data.

For example, the working mode of the unmanned aerial vehicle may include a first working mode and a second working mode. When the unmanned aerial vehicle is in the first working mode, the flying height limit of the unmanned aerial vehicle is preset, that is, it is stored locally. The unmanned aerial vehicle can limit the height of the unmanned aerial vehicle based on the locally stored default restricted altitude. When the unmanned aerial vehicle is in the second working mode, the unmanned aerial vehicle's restricted flying height is determined based on the waypoint heights of multiple waypoints, and then the unmanned aerial vehicle can limit the unmanned aerial vehicle's height based on the determined restricted flying height . The second working mode in the embodiments of the present application may be a preset working mode. If the user requires the UAV to determine the altitude limit of the UAV when performing flight route tasks according to flight route data according to the waypoint heights of multiple waypoints. , Then the user can adjust the working mode of the UAV to the preset working mode.

The way to adjust the working mode of the unmanned aerial vehicle to the preset working mode can be as follows: the user clicks the preset button of the unmanned aerial vehicle, and the unmanned aerial vehicle detects the user's operation of the preset button and adjusts the working mode of the unmanned aerial vehicle It is the default working mode. Alternatively, the user sends a working mode adjustment instruction to the unmanned aerial vehicle through the control terminal, and the unmanned aerial vehicle adjusts the working mode of the unmanned aerial vehicle to the preset working mode in response to the working mode adjustment instruction.

6) Confirm that the task type of the flight route task indicated by the flight route data is the preset task type.

The flight route data can include the mission type of the flight route mission. After the unmanned aerial vehicle obtains the flight route data, it can determine whether the mission type of the flight route mission is a preset mission type. When the mission type of the flight route mission is a preset mission In the case of the type, the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints contained in the flight route data. When the mission type of the flight route mission is not the preset mission type, the unmanned aerial vehicle may determine the locally stored default flying altitude limit as the unmanned aerial vehicle's restricted flying altitude when performing the flight route mission according to the flight route data. Exemplarily, the preset task type may include fruit tree operation task, seedling operation task or power line inspection task.

In the embodiments of this application, by acquiring flight route data, the waypoint heights of multiple waypoints included in the flight route data are determined to determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data. This can be achieved Dynamic determination of the restricted height.

Please refer to FIG. 3, which is a schematic diagram of another exemplary flight route data provided by an embodiment of the present application. Before the unmanned aerial vehicle executes the flight route task, the unmanned aerial vehicle can obtain flight route data, where the flight route data can at least include the waypoint heights of multiple waypoints. For example, assuming that the flight route task is a fruit tree operation task, the waypoint can be the position of the fruit tree, and the height of the waypoint can be the height of the fruit tree. After the unmanned aerial vehicle determines the altitude limit of the unmanned aerial vehicle when executing the flight route task according to the flight route data according to the waypoint heights of multiple waypoints, it can execute the flight route task according to the flight route data.

Specifically, during the flight of the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the obstacle below the unmanned aerial vehicle can be detected by the distance sensor. When the distance between the unmanned aerial vehicle and the obstacle is less than the preset distance threshold, The unmanned aerial vehicle can control the unmanned aerial vehicle to increase the flying height, so as to realize the safe altitude requirement of the unmanned aerial vehicle when performing flight route tasks.

In addition, during the flight of the unmanned aerial vehicle, the flying height of the unmanned aerial vehicle can be obtained in real time, and the first relative altitude of the unmanned aerial vehicle relative to the restricted-flying reference point can be determined according to the flying height and the height of the restricted-flying reference point. When the altitude is greater than or equal to the height limit, the UAV's height limit operation is triggered. Since the embodiment of the present application compares the first relative altitude of the UAV relative to the flight restriction reference point with the flight restriction altitude, even if the UAV flies to the gap between two waypoints, or the UAV is under the depression, It will not trigger the height limit operation, thereby affecting the efficiency of the job task. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.

Among them, the distance sensor may include an optical distance sensor, an infrared distance sensor, a barometer, an ultrasonic distance sensor, or a photographing device. Exemplarily, the distance sensor may be arranged on the bottom of the unmanned aerial vehicle.

Among them, the flying height of the unmanned aerial vehicle may be the relative height of the unmanned aerial vehicle relative to the ground, or the altitude of the unmanned aerial vehicle. In an exemplary scenario, if the unmanned aerial vehicle performs a flight route mission in a mountainous region, which indicates that the flight altitude of the unmanned aerial vehicle has a large change, then the user can set the unmanned aerial vehicle's flight altitude to the altitude of the unmanned aerial vehicle. If the unmanned aerial vehicle performs flight route missions on the plains, indicating that the altitude of the unmanned aerial vehicle has little change, the user can set the unmanned aerial vehicle's flight altitude to the relative altitude of the unmanned aerial vehicle to the ground, or the altitude of the unmanned aerial vehicle . In another exemplary scenario, the flying height of the unmanned aerial vehicle is preset and does not need to be set by the user. For example, the flying height of the unmanned aerial vehicle defaults to the altitude of the unmanned aerial vehicle. In another exemplary scenario, if the altitude of the restricted-flying reference point is the altitude, then the flying altitude of the unmanned aerial vehicle may be the altitude; if the altitude of the restricted-flying reference point is the relative height of the restricted-flying reference point with respect to the ground, Then the flying height of the unmanned aerial vehicle can be the relative height of the unmanned aerial vehicle relative to the ground.

Based on FIG. 3, please refer to FIG. 4. FIG. 4 is a schematic flowchart of another method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application. The method for height limitation of an unmanned aerial vehicle may include the following steps S401 to S405:

Step S401: Obtain flight route data, where the flight route data includes waypoint heights of multiple waypoints.

Wherein, step S401 in the embodiment of the present application is the same as step S201 in the foregoing embodiment. For details, reference may be made to the description of step S201 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S402: Determine, according to the waypoint heights of the multiple waypoints, the restricted flying height of the unmanned aerial vehicle when the processor executes the flight route task according to the flight route data, where the restricted flying height is the height relative to the restricted flying reference point.

Wherein, step S402 in the embodiment of the present application is the same as step S202 in the foregoing embodiment. For details, reference may be made to the description of step S202 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S403: Obtain the flying height of the unmanned aerial vehicle during the process of executing the flight route task according to the flight route data, where the flying height is measured according to the sensor data output by the sensor of the unmanned aerial vehicle.

The sensor in the embodiment of the present application may include one or more of a GPS positioning module, an RTK measuring instrument, an air pressure sensor, and a distance sensor.

Step S404: Determine the first relative altitude of the unmanned aerial vehicle relative to the flight restriction reference point according to the flight altitude and the altitude of the flight restriction reference point.

The unmanned aerial vehicle can subtract the flying altitude from the altitude of the restricted-flying reference point to obtain the first relative altitude. Optionally, the unmanned aerial vehicle can compare the flight altitude with the altitude of the restricted-flying reference point. When the flying altitude is greater than the altitude of the restricted-flying reference point, the unmanned aerial vehicle can subtract the flying altitude from the altitude of the restricted-flying reference point. Get the first relative height. When the flying height is less than or equal to the height of the restricted-flying reference point, the unmanned aerial vehicle may determine that the first relative height of the unmanned aerial vehicle relative to the restricted-flying reference point is zero.

Step S405: When the first relative altitude is greater than or equal to the restricted flying height, trigger the height restriction operation of the unmanned aerial vehicle.

After the unmanned aerial vehicle obtains the first relative altitude, the first relative altitude can be compared with the restricted flying altitude. When the first relative altitude is greater than or equal to the restricted flying altitude, the unmanned aerial vehicle's height restriction operation will be triggered. Exemplarily, the height-limiting operation of the unmanned aerial vehicle may include at least one of the following: not responding to the height-up command of the unmanned aerial vehicle; sending height-limiting prompt information to the control terminal of the unmanned aerial vehicle so that the control terminal displays the height-limiting prompt information ; Control the unmanned aerial vehicle to return home; control the unmanned aerial vehicle to land.

Wherein, if the unmanned aerial vehicle obtains an altitude ascending instruction during the flight, and the first relative altitude is greater than or equal to the restricted flying altitude, the unmanned aerial vehicle may not respond to the altitude ascending instruction. The altitude increase instruction can be sent by the control terminal to the UAV. For example, if the user wants the UAV to increase the flying altitude, the user can operate the control terminal. When the control terminal detects the user's operation, the altitude increase instruction can be generated, and Send the altitude increase command to the unmanned aerial vehicle. Optionally, the altitude increase instruction may also be generated by an unmanned aerial vehicle, for example, the unmanned aerial vehicle generates an altitude increase instruction when an altitude rise event is detected. For example, when the distance between the unmanned aerial vehicle and the obstacle below the unmanned aerial vehicle is less than the preset distance threshold, the unmanned aerial vehicle can determine that the altitude rise event is detected. Or when the UAV flies to a certain waypoint, the waypoint height of that waypoint is less than the waypoint height of the next waypoint, and the height of the waypoint of the next waypoint is between the height of the waypoint of that waypoint If the difference is greater than the preset altitude threshold, the UAV can determine that the altitude rise event has been detected.

In one implementation, the unmanned aerial vehicle can receive the altitude rise command sent by the control device, and determine the second relative altitude of the unmanned aerial vehicle according to the altitude rise instruction, the flight altitude, and the altitude of the flight restriction reference point. When the altitude is less than the restricted flight altitude, the altitude adjustment of the UAV will be performed in response to the altitude ascending command. When the second relative altitude is greater than or equal to the restricted flying altitude, the unmanned aerial vehicle may not respond to the altitude ascending command.

Among them, the way for the unmanned aerial vehicle to determine the second relative altitude of the unmanned aerial vehicle according to the altitude ascent command, the flight altitude and the altitude of the flight restriction reference point can be as follows: The second relative altitude is obtained by subtracting the altitude of the restricted-flying reference point from the value obtained by adding the altitude to be adjusted and the flying altitude.

In an implementation manner, when the flight route mission ends, the unmanned aerial vehicle may adjust the restricted flying height to a locally stored default restricted flying height. Optionally, after the unmanned aerial vehicle adjusts the restricted-flying altitude to a locally stored default restricted-flying altitude, it can also control the unmanned aerial vehicle to return home based on the adjusted restricted-flying altitude. In the embodiment of the present application, the unmanned aerial vehicle can automatically adjust the flying restriction height to the default restricted flying height when the flight route mission ends, so as to ensure the flight safety of the unmanned aerial vehicle.

In the embodiment of this application, since the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, it can avoid the low flying height of the unmanned aerial vehicle when performing flight route tasks, resulting in the unmanned aerial vehicle The fuselage of the aircraft collided with the operating object, thereby fulfilling the high safety requirements of the unmanned aerial vehicle when performing flight route tasks. In addition, because the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, and the restricted flying height is relative to the height of the restricted reference point, it can avoid the unmanned aerial vehicle flying to two The flight route task fails when the height limit operation is triggered when the height limit operation is triggered between the operating objects or the low-lying ground under the unmanned aerial vehicle. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.

Please refer to FIG. 5, which is a schematic structural diagram of a height limiting device for an unmanned aerial vehicle provided by an embodiment of the present application. The height limiting device of the unmanned aerial vehicle described in the embodiment of the present application includes: a processor 501, a memory 502, a communication interface 503, and a sensor 504. The aforementioned processor 501, memory 502, communication interface 503, and sensor 504 are connected by one or more communication buses.

The aforementioned processor 501 may be a CPU, and the processor may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor 501 is configured to support the unmanned aerial vehicle to perform the corresponding functions of the unmanned aerial vehicle in the method described in FIG. 2 or FIG. 4.

The aforementioned memory 502 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 501. A part of the memory 502 may also include a non-volatile random access memory. Wherein, the processor 501 is used to execute when the computer program is called:

Acquiring flight route data, the flight route data including waypoint heights of multiple waypoints;

Determine, according to the heights of the multiple waypoints, the restricted flying height when the unmanned aerial vehicle executes the flight route task according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point .

In an implementation manner, the flight restriction reference point includes a take-off position point of the unmanned aerial vehicle, a power-on position point of the unmanned aerial vehicle, or a position point indicated by a user of the unmanned aerial vehicle.

In an implementation manner, the processor 501 is further configured to execute the following steps:

In the process of the unmanned aerial vehicle performing the flight route task according to the flight route data, the flight altitude of the unmanned aerial vehicle is acquired, wherein the flight altitude is based on the transmission output from the sensor of the unmanned aerial vehicle. Measured by sensory data;

Determine the first relative height of the unmanned aerial vehicle relative to the flight restriction reference point according to the flight altitude and the altitude of the flight restriction reference point;

When the first relative height is greater than or equal to the restricted flying height, a height restriction operation of the unmanned aerial vehicle is triggered.

In an implementation manner, the processor 501 specifically executes the following steps when triggering the height limitation operation of the UAV:

Does not respond to the altitude increase command of the UAV.

In an implementation manner, the processor 501 specifically executes the following steps when triggering the height limitation operation of the UAV:

Sending the height limit prompt information to the control terminal of the unmanned aerial vehicle, so that the control terminal displays the height limit prompt information.

In an implementation manner, the processor 501 specifically executes when determining, according to the altitudes of the multiple waypoints, the altitude limit of the unmanned aerial vehicle when performing flight route tasks according to the flight route data Do as follows:

Determining the waypoint with the highest waypoint height among the multiple waypoints according to the waypoint heights of the multiple waypoints;

The restricted flying height is determined according to the waypoint height of the waypoint with the highest waypoint height.

In an implementation manner, when the processor 501 determines the restricted-flying height according to the waypoint height of the waypoint with the highest waypoint height, it specifically executes the following steps:

Determine the second relative height of the waypoint with the highest waypoint height relative to the flight-restricted reference point according to the height of the waypoint with the highest waypoint height and the height of the flight-restricted reference point;

The flying restriction height is determined according to the second relative height.

In an implementation manner, the processor 501 specifically executes the following steps when determining the flying restriction height according to the second relative height:

Obtain the first safety height margin;

The sum of the first safety height margin and the second relative height is determined as the restricted flying height.

In an implementation manner, the processor 501 is further configured to execute the following steps:

Judge whether the waypoint height of the waypoint with the highest waypoint height is greater than or equal to the height of the reference point for restricted flight;

The processor 501 specifically executes the following steps when determining the flight restriction height according to the waypoint height of the waypoint with the highest waypoint height:

If yes, determine the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height;

Otherwise, determine the restricted flying height according to the height of the restricted flying reference point.

In an implementation manner, the processor 501 specifically executes the following steps when determining the flying restriction height according to the height of the flying restriction reference point:

Obtain the second safety height margin;

The sum of the second safety altitude margin and the altitude of the flying restriction reference point is determined as the flying restriction altitude.

In an implementation manner, the processor 501 is further configured to execute the following steps:

Determine whether the preset conditions are met;

The processor 501 specifically executes the following steps when determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the UAV when executing the flight route task according to the flight route data:

When the preset condition is met, determine the restricted flying height of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data according to the waypoint heights of the multiple waypoints;

The processor 501 is further configured to execute the following steps:

When the preset condition is not met, the locally stored default flight restriction altitude is determined as the flight restriction altitude of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data.

In an implementation manner, the meeting the preset condition includes at least one of the following:

The distance between each of the multiple waypoints and the home point of the unmanned aerial vehicle or the reference point for flight restriction is less than or equal to a preset distance threshold;

The unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type;

The operation object of the unmanned aerial vehicle during the execution of the flight route task is an object of a preset object type.

In an implementation manner, the processor 501 is further configured to execute the following steps:

Acquiring the task type of the flight route task indicated by the flight route data;

The processor 501 specifically executes the following steps when determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the UAV when executing the flight route task according to the flight route data:

When the task type of the flight route task is a preset task type, the flight restriction of the unmanned aerial vehicle when the flight route task is executed according to the flight route data is determined according to the waypoint heights of the multiple waypoints high.

In an implementation manner, the processor 501 is further configured to execute the following steps:

When the flight route mission ends, the restricted flying height is adjusted to a locally stored default restricted flying height.

The unmanned aerial system including the unmanned aerial vehicle will be described below in conjunction with FIG. 5. In this embodiment, a rotorcraft is taken as an example for description.

The unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a carrier 120, a display device, and a remote control device. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, and a frame 170. The UAV 110 can wirelessly communicate with the remote control device 140 and the display device.

The frame 170 may include a fuselage and a tripod (also referred to as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands. One or more indicator lights may be installed on the frame 170, for example, an arm lamp installed on the arm.

The power system 150 may include an electronic speed governor (referred to as an ESC) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected to the electronic speed governor Between the 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the corresponding arms; the electronic governor 151 is used to receive the driving signal generated by the flight controller 160, and provide a driving current to the motor 152 according to the driving signal to control The speed of the motor 152. The motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to realize movement of one or more degrees of freedom. It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brush motor. The power system 150 corresponds to the power components in the above-mentioned embodiment.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the sensing data of the unmanned aerial vehicle. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an electronic compass, an IMU, a vision sensor (for example, a monocular camera or a dual/multi-camera camera, etc.), GPS, barometer, and visual inertial odometer. The flight controller 161 is used to control the unmanned aerial vehicle 110. For example, the unmanned aerial vehicle 110 can be controlled to perform a display task according to the sensor data measured by the sensor system 162.

The carrier 120 can be used to carry a load 180. For example, when the carrier 120 is a pan-tilt device, the load 180 may be a photographing device (for example, a camera, a video camera, etc.). The embodiment of the present application is not limited thereto. For example, the carrier may also be used to carry weapons or other loads. Carrying equipment. Exemplarily, the load 180 may also be a spray head.

The embodiment of the present application also provides an unmanned aerial vehicle, which may include a fuselage; a power system provided on the fuselage for providing flight power; and the unmanned aerial vehicle as shown in FIG. 5 of the embodiment of the present application. The height limit device of the aircraft.

In an implementation manner, the unmanned aerial vehicle may further include a sensor installed on the fuselage for outputting sensor data.

In an implementation manner, the unmanned aerial vehicle may further include a communication device installed on the fuselage for information interaction with the control terminal of the unmanned aerial vehicle.

The embodiment of the present application also provides a readable storage medium, and the readable storage medium stores a computer program. When the computer program is executed by a processor, it can be used to implement the implementation corresponding to FIG. 2 or FIG. 4 of the embodiment of the present application. The height limitation method of unmanned aerial vehicle described in the example will not be repeated here.

The computer-readable storage medium may be the internal storage unit of the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the UAV, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card ( Flash Card) etc. Further, the computer-readable storage medium may also include both an internal storage unit of the UAV and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the UAV. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a readable storage medium. During execution, it may include the processes of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disk, ROM or RAM, etc.

The above-disclosed are only the preferred embodiments of the application, and of course the scope of rights of the application cannot be limited by this. Therefore, equivalent changes made in accordance with the claims of the application still fall within the scope of the application.

Claims (32)

A method for limiting the height of an unmanned aerial vehicle, characterized in that the method includes: Acquiring flight route data, the flight route data including waypoint heights of multiple waypoints; According to the waypoint heights of the multiple waypoints, determine the restricted flying height of the unmanned aerial vehicle when performing flight route tasks according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point . The method according to claim 1, wherein the flight restriction reference point includes a take-off position point of the unmanned aerial vehicle, a power-on position point of the unmanned aerial vehicle, or a point indicated by a user of the unmanned aerial vehicle. Location point. The method according to claim 1 or 2, wherein the method further comprises: In the process of the unmanned aerial vehicle performing the flight route task according to the flight route data, the flight altitude of the unmanned aerial vehicle is acquired, wherein the flight altitude is based on the transmission output from the sensor of the unmanned aerial vehicle. Measured by sensory data; Determine the first relative height of the unmanned aerial vehicle relative to the flight restriction reference point according to the flight altitude and the altitude of the flight restriction reference point; When the first relative height is greater than or equal to the restricted flying height, a height restriction operation of the unmanned aerial vehicle is triggered. The method according to claim 3, wherein the triggering the height limitation operation of the UAV comprises: Does not respond to the altitude increase command of the UAV. The method according to claim 3, wherein the triggering the height limitation operation of the UAV comprises: Sending the height limit prompt information to the control terminal of the unmanned aerial vehicle, so that the control terminal displays the height limit prompt information. The method according to any one of claims 1 to 5, wherein the method of determining, according to the waypoint heights of the multiple waypoints, the unmanned aerial vehicle's performance when performing flight route tasks according to the flight route data Restricted altitude, including: Determining the waypoint with the highest waypoint height among the multiple waypoints according to the waypoint heights of the multiple waypoints; The restricted flying height is determined according to the waypoint height of the waypoint with the highest waypoint height. The method according to claim 6, wherein the determining the restricted flying height according to the waypoint height of the waypoint with the largest waypoint height comprises: Determine the second relative height of the waypoint with the highest waypoint height relative to the flight-restricted reference point according to the height of the waypoint with the highest waypoint height and the height of the flight-restricted reference point; The flying restriction height is determined according to the second relative height. The method according to claim 7, wherein the determining the flying restriction height according to the second relative height comprises: Obtain the first safety height margin; The sum of the first safety height margin and the second relative height is determined as the restricted flying height. The method according to any one of claims 6-8, wherein the method further comprises: Judge whether the waypoint height of the waypoint with the highest waypoint height is greater than or equal to the height of the reference point for restricted flight; The determining the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height includes: If yes, determine the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height; Otherwise, determine the restricted flying height according to the height of the restricted flying reference point. The method according to claim 9, wherein the determining the flying restriction height according to the height of the flying restriction reference point comprises: Obtain the second safety height margin; The sum of the second safety altitude margin and the altitude of the flying restriction reference point is determined as the flying restriction altitude. The method according to any one of claims 1-10, wherein the method further comprises: Determine whether the preset conditions are met; The determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the unmanned aerial vehicle when performing flight route tasks according to the flight route data includes: When the preset condition is met, determine the restricted flying height of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data according to the waypoint heights of the multiple waypoints; The method also includes: When the preset condition is not met, the locally stored default flight restriction altitude is determined as the flight restriction altitude of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data. The method according to claim 11, wherein the meeting a preset condition comprises at least one of the following: The distance between each of the multiple waypoints and the home point of the unmanned aerial vehicle or the reference point for flight restriction is less than or equal to a preset distance threshold; The unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type; The operation object of the unmanned aerial vehicle during the execution of the flight route task is an object of a preset object type. The method according to any one of claims 1-10, wherein the method further comprises: Acquiring the task type of the flight route task indicated by the flight route data; The determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the unmanned aerial vehicle when performing flight route tasks according to the flight route data includes: When the task type of the flight route task is a preset task type, the flight restriction of the unmanned aerial vehicle when the flight route task is executed according to the flight route data is determined according to the waypoint heights of the multiple waypoints high. The method according to any one of claims 1-13, wherein the method further comprises: When the flight route mission ends, the restricted flying height is adjusted to a locally stored default restricted flying height. A height-limiting device for an unmanned aerial vehicle, characterized in that the device comprises: The memory is used to store a computer program, the computer program including program instructions; The processor calls the program instructions to execute the following steps: Acquiring flight route data, the flight route data including waypoint heights of multiple waypoints; Determine, according to the heights of the multiple waypoints, the restricted flying height when the unmanned aerial vehicle executes the flight route task according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point . The apparatus according to claim 15, wherein the flight restriction reference point comprises a take-off position point of the unmanned aerial vehicle, a power-on position point of the unmanned aerial vehicle, or a point indicated by a user of the unmanned aerial vehicle. Location point. The device according to claim 15 or 16, wherein the processor is further configured to execute the following steps: In the process of the unmanned aerial vehicle performing the flight route task according to the flight route data, the flight altitude of the unmanned aerial vehicle is acquired, wherein the flight altitude is based on the transmission output from the sensor of the unmanned aerial vehicle. Measured by sensory data; Determine the first relative height of the unmanned aerial vehicle relative to the flight restriction reference point according to the flight altitude and the altitude of the flight restriction reference point; When the first relative height is greater than or equal to the restricted flying height, a height restriction operation of the unmanned aerial vehicle is triggered. The device according to claim 17, wherein the processor specifically executes the following steps when triggering the height limitation operation of the UAV: Does not respond to the altitude increase command of the UAV. The device according to claim 17, wherein the processor specifically executes the following steps when triggering the height limitation operation of the UAV: Sending the height limit prompt information to the control terminal of the unmanned aerial vehicle, so that the control terminal displays the height limit prompt information. The device according to any one of claims 15-19, wherein the processor determines that the unmanned aerial vehicle is executing a flight route according to the flight route data according to the waypoint heights of the multiple waypoints. When the flying altitude is restricted during the mission, the specific operations are as follows: Determining the waypoint with the highest waypoint height among the multiple waypoints according to the waypoint heights of the multiple waypoints; The restricted flying height is determined according to the waypoint height of the waypoint with the highest waypoint height. The device according to claim 20, wherein the processor specifically executes the following steps when determining the flying restriction height according to the waypoint height of the waypoint with the highest waypoint height: Determine the second relative height of the waypoint with the highest waypoint height relative to the flight-restricted reference point according to the height of the waypoint with the highest waypoint height and the height of the flight-restricted reference point; The flying restriction height is determined according to the second relative height. The device according to claim 21, wherein the processor specifically executes the following steps when determining the flying restriction height according to the second relative height: Obtain the first safety height margin; The sum of the first safety height margin and the second relative height is determined as the restricted flying height. The device according to any one of claims 20-22, wherein the processor is further configured to execute the following steps: Judge whether the waypoint height of the waypoint with the highest waypoint height is greater than or equal to the height of the reference point for restricted flight; The processor specifically executes the following steps when determining the flying restriction height according to the waypoint height of the waypoint with the highest waypoint height: If yes, determine the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height; Otherwise, determine the restricted flying height according to the height of the restricted flying reference point. The apparatus according to claim 23, wherein the processor specifically executes the following steps when determining the flying restriction height according to the height of the flying restriction reference point: Obtain the second safety height margin; The sum of the second safety altitude margin and the altitude of the flying restriction reference point is determined as the flying restriction altitude. The device according to any one of claims 15-24, wherein the processor is further configured to execute the following steps: Determine whether the preset conditions are met; The processor specifically executes the following steps when determining, according to the altitudes of the multiple waypoints, the flight limit altitude of the unmanned aerial vehicle when executing the flight route task according to the flight route data: When the preset condition is met, determine the restricted flying height of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data according to the waypoint heights of the multiple waypoints; The processor is further configured to execute the following steps: When the preset condition is not met, the locally stored default flight restriction altitude is determined as the flight restriction altitude of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data. The device according to claim 25, wherein said satisfying a preset condition comprises at least one of the following: The distance between each of the multiple waypoints and the home point of the unmanned aerial vehicle or the reference point for flight restriction is less than or equal to a preset distance threshold; The unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type; The operation object of the unmanned aerial vehicle during the execution of the flight route task is an object of a preset object type. The device according to any one of claims 15-24, wherein the processor is further configured to execute the following steps: Acquiring the task type of the flight route task indicated by the flight route data; When the processor determines, according to the waypoint heights of the multiple waypoints, the flying height limit of the unmanned aerial vehicle when executing the flight route task according to the flight route data, the processor specifically executes the following steps: When the task type of the flight route task is a preset task type, determine the flight restriction of the unmanned aerial vehicle when performing the flight route task according to the flight route data according to the waypoint heights of the multiple waypoints high. The device according to any one of claims 15-27, wherein the processor is further configured to execute the following steps: When the flight route mission ends, the restricted flying height is adjusted to a locally stored default restricted flying height. An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle comprises: body; The power system installed on the fuselage is used to provide flight power; The height limiting device for an unmanned aerial vehicle according to any one of claims 15 to 28. The unmanned aerial vehicle of claim 29, wherein the unmanned aerial vehicle further comprises: The sensor is installed on the body and is used to output sensor data. The unmanned aerial vehicle of claim 30, wherein the unmanned aerial vehicle further comprises: Communication equipment is installed on the fuselage and used for information interaction with the control terminal of the unmanned aerial vehicle. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program, when executed, realizes the unmanned aerial vehicle according to any one of claims 1-14 The height limit method.

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